Application of the MiL and HiL Simulation Techniques in Stewart Platform Control Development

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F22%3A10250572" target="_blank" >RIV/61989100:27230/22:10250572 - isvavai.cz</a>

Výsledek na webu

<a href="https://mdpi-res.com/d_attachment/applsci/applsci-12-02323/article_deploy/applsci-12-02323-v3.pdf?version=1646117177" target="_blank" >https://mdpi-res.com/d_attachment/applsci/applsci-12-02323/article_deploy/applsci-12-02323-v3.pdf?version=1646117177</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/app12052323" target="_blank" >10.3390/app12052323</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Application of the MiL and HiL Simulation Techniques in Stewart Platform Control Development

Popis výsledku v původním jazyce

During the integration phase of a system development, we are often concerned as to whether the designed control algorithm could be performed on the selected controller in real-time. One of the tools to test and validate the control scheme is the Hardware-in-the-Loop (HiL) simulation technique, which is a part of a model-based design methodology. This approach requires a simulation model of a controlled system running in a real-time loop with an intended controller and a control algorithm, which are objects of interest in this method. To perform the test, the control algorithm must be deployed to the controller such as a PLC. This paper presents a use case of the HiL technique in the design of the Stewart platform control, where the controller is PLCnext from Phoenix Contact. The control algorithm was first verified in the Model-in-the-Loop simulation (MiL) and then generated as a code from the Matlab/Simulink environment and deployed to the PLCnext, which resulted in a smoother transition from the design to the integration and testing phase. The presented method is also applicable to other controllers that support code generation.

Název v anglickém jazyce

Application of the MiL and HiL Simulation Techniques in Stewart Platform Control Development

Popis výsledku anglicky

During the integration phase of a system development, we are often concerned as to whether the designed control algorithm could be performed on the selected controller in real-time. One of the tools to test and validate the control scheme is the Hardware-in-the-Loop (HiL) simulation technique, which is a part of a model-based design methodology. This approach requires a simulation model of a controlled system running in a real-time loop with an intended controller and a control algorithm, which are objects of interest in this method. To perform the test, the control algorithm must be deployed to the controller such as a PLC. This paper presents a use case of the HiL technique in the design of the Stewart platform control, where the controller is PLCnext from Phoenix Contact. The control algorithm was first verified in the Model-in-the-Loop simulation (MiL) and then generated as a code from the Matlab/Simulink environment and deployed to the PLCnext, which resulted in a smoother transition from the design to the integration and testing phase. The presented method is also applicable to other controllers that support code generation.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

—

Svazek periodika

12

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

17

Strana od-do

nestrankovano

Kód UT WoS článku

000768923100001

EID výsledku v databázi Scopus

2-s2.0-85125423779